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authorRomain Forlot <romain.forlot@iot.bzh>2017-04-26 00:19:18 +0200
committerRomain Forlot <romain.forlot@iot.bzh>2017-04-27 01:03:34 +0200
commite00c07be2835dd082862730189c87baacbfbdbeb (patch)
tree01799010ff05c0ec69754bef0d4fde5e0ea5181c /CAN-binder/low-can-binding/can/can-bus.cpp
parent3294f6fd9ad00d9412518b13b528ae14067cb3cf (diff)
Reworked reading CAN devices from BCM socket.
Now reading thread hold in can_bus_t object instead of can_bus_dev_t and reading happens using select(). Change-Id: Ib8cc68c4484679168519f3c0fa485fedd1616c74 Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus.cpp')
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.cpp51
1 files changed, 50 insertions, 1 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 6e74b86a..6f9e78d9 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -47,6 +47,49 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file)
std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
+/// @brief Listen for all device sockets and fill can_messages_queue with them.
+/// Reading blocks until message arrive on listened sockets.
+///
+/// @return 0 if ok -1 if not
+int can_bus_t::can_reader()
+{
+ fd_set rfds;
+ int sock_max = INVALID_SOCKET;
+
+ FD_ZERO(&rfds);
+
+ for(auto& can_dev : can_devices_)
+ {
+ FD_SET(can_dev.second->get_socket().socket(), &rfds);
+ if (sock_max < can_dev.second->get_socket().socket())
+ sock_max = can_dev.second->get_socket().socket();
+ }
+
+ int ret;
+ while(is_reading_)
+ {
+ ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
+
+ if(ret == -1)
+ perror("select()");
+ else if(ret > 0)
+ {
+ for(const auto& s: can_devices_)
+ {
+ if(FD_ISSET(s.second->get_socket().socket(), &rfds))
+ {
+ can_message_t msg;
+ s.second->get_socket() >> msg;
+ push_new_can_message(msg);
+ }
+ }
+ }
+ else
+ printf("Timeout\n");
+ }
+ return 0;
+}
+
/// @brief Will make the decoding operation on a classic CAN message. It will not
/// handle CAN commands nor diagnostic messages that have their own method to get
/// this happens.
@@ -199,6 +242,11 @@ void can_bus_t::can_event_push()
/// and push subscribed events.
void can_bus_t::start_threads()
{
+ is_reading_ = true;
+ th_reading_ = std::thread(&can_bus_t::can_reader, this);
+ if(!th_reading_.joinable())
+ is_reading_ = false;
+
is_decoding_ = true;
th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
if(!th_decoding_.joinable())
@@ -215,6 +263,7 @@ void can_bus_t::start_threads()
/// they'll finish their job.
void can_bus_t::stop_threads()
{
+ is_reading_ = false;
is_decoding_ = false;
is_pushing_ = false;
}
@@ -248,7 +297,7 @@ int can_bus_t::init_can_dev()
can_bus_t::can_devices_[device]->configure();
DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
- can_bus_t::can_devices_[device]->start_reading(*this);
+ //can_bus_t::can_devices_[device]->start_reading(*this);
i++;
}
else